Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2025/06/06 07:47
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... ... @@ -1,1 +1,1 @@ 1 -xwiki:XWiki. ENantel1 +xwiki:XWiki.BDaouas - Content
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... ... @@ -11,11 +11,11 @@ 11 11 12 12 == Session == 13 13 14 -{{html clean="false" wiki="true"}}14 +{{html wiki="true" clean="false"}} 15 15 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 16 16 A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.<div class="wikimodel-emptyline"></div> 17 17 18 -**Note #1:** For a given session, the action related to a specific command overrides the stored value in EEPROM.<div class="wikimodel-emptyline"></div> 18 +**Note #1:** For a given session, the action related to a specific commands overrides the stored value in EEPROM.<div class="wikimodel-emptyline"></div> 19 19 **Note #2:** During the power-on / reset process the LSS cannot accept commands for a small amount of time (1.25 s).<div class="wikimodel-emptyline"></div> 20 20 You can ensure the LSS is ready by using a query command to check for response (ex: #[id]Q\r or #[id]QID\r). If the LSS is ready for commands (initialized) it will respond to the query. A timeout between 50-100 ms is recommended to compensate for drivers, OS and buffering delays. 21 21 <div class="wikimodel-emptyline"></div></div></div> ... ... @@ -153,71 +153,69 @@ 153 153 154 154 **Latest firmware version currently : 368.29.14** 155 155 156 -|(% colspan="10" style="color:orange; font-size:18px" %) [[**Communication Setup**>>||anchor="HCommunicationSetup"]]156 +|(% colspan="10" style="color:orange; font-size:18px" %)**Communication Setup** 157 157 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** 158 -| |[[**Reset**>> ||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Soft reset. See command for details.159 -| |[[**Default** Configuration>> ||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Revert to firmware default values. See command for details160 -| |[[Firmware **Update** Mode>> ||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Update firmware. See command for details.161 -| | [[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |162 -| |[[**C**hange to **RC**>> ||anchor="HConfigureRCMode28CRC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CRC|(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Change to RC mode 1 (position) or 2 (wheel).163 -| |[[**ID** #>> ||anchor="HIdentificationNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %) |(% style="text-align:center" %)✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.164 -| |[[**B**audrate>> ||anchor="HBaudRate"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QB|(% style="text-align:center" %)CB|(% style="text-align:center" %) |(% style="text-align:center" %)✓|115200| |Reset required after change.158 +| |[[Soft **Reset**>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol#HReset]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Soft reset. See command for details. 159 +| |[[**Default** Configuration>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol#HDefault26confirm]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Revert to firmware default values. See command for details 160 +| |[[Firmware **Update** Mode>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol#HUpdate26confirm]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Update firmware. See command for details. 161 +| |**Confirm** Changes|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | | 162 +| |[[**C**hange to **RC**>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol#HConfigureRCMode28CRC29]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CRC|(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Change to RC mode 1 (position) or 2 (wheel). 163 +| |[[**ID** #>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol#HIdentificationNumber28ID29]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %) |(% style="text-align:center" %)✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to. 164 +| |[[**B**audrate>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol#HBaudRate]]|(% style="text-align:center" %) |(% style="text-align:center" %)QB|(% style="text-align:center" %)CB|(% style="text-align:center" %) |(% style="text-align:center" %)✓|115200| |Reset required after change. 165 165 166 -|(% colspan="10" style="color:orange; font-size:18px" %) [[**Motion**>>||anchor="HMotion"]]166 +|(% colspan="10" style="color:orange; font-size:18px" %)**Motion** 167 167 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** 168 -| | [[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°|169 -| | [[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°|170 -| | [[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation"171 -| | [[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM28WR29"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation"172 -| | [[Position in **P**WM>>||anchor="HPositioninPWM28P29"]]|(% style="text-align:center" %)P|(% style="text-align:center" %)QP|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|Inherited from SSC-32 serial protocol173 -| | [[**M**ove in PWM (relative)>>||anchor="H28Relative29MoveinPWM28M29"]]|(% style="text-align:center" %)M|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|174 -| | [[**R**aw **D**uty-cycle **M**ove>>||anchor="HRawDuty-cycleMove28RDM29"]]|(% style="text-align:center" %)RDM|(% style="text-align:center" %)QMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW175 -| | [[**Q**uery Status>>||anchor="HQueryStatus28Q29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1 to 8 integer|See command description for details176 -| | [[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |177 -| | [[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |168 +| |Position in **D**egrees|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°| 169 +| |**M**ove in **D**egrees (relative)|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°| 170 +| |**W**heel mode in **D**egrees|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation" 171 +| |**W**heel mode in **R**PM|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation" 172 +| |Position in **P**WM|(% style="text-align:center" %)P|(% style="text-align:center" %)QP|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|Inherited from SSC-32 serial protocol 173 +| |**M**ove in PWM (relative)|(% style="text-align:center" %)M|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us| 174 +| |**R**aw **D**uty-cycle **M**ove|(% style="text-align:center" %)RDM|(% style="text-align:center" %)QMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW 175 +| |**Q**uery Status|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1 to 8 integer|See command description for details 176 +| |**L**imp|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | | 177 +| |**H**alt & Hold|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | | 178 178 179 -|(% colspan="10" style="color:orange; font-size:18px" %) [[**Motion Setup**>>||anchor="HMotionSetup"]]179 +|(% colspan="10" style="color:orange; font-size:18px" %)**Motion Setup** 180 180 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** 181 -| | [[**E**nable **M**otion Profile>>||anchor="HEnableMotionProfile28EM29"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|(% style="text-align:center" %) |(% style="text-align:center" %)✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile182 -| | [[**F**ilter **P**osition **C**ount>>||anchor="HFilterPositionCount28FPC29"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|5| |Affects motion only when motion profile is disabled (EM0)183 -| | [[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|1/10°|184 -| | [[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1800|1/10°|185 -| | [[**A**ngular **S**tiffness>>||anchor="HAngularStiffness28AS29"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|-4 to +4 integer|Suggested values are between 0 to +4186 -| | [[**A**ngular **H**olding Stiffness>>||anchor="HAngularHoldingStiffness28AH29"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|4|-10 to +10 integer|187 -| | [[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).188 -| | [[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).189 -| | [[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)190 -| | [[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|No value|1/10°|Reset required after change.191 -| | [[**M**aximum **M**otor **D**uty>>||anchor="HMaximumMotorDuty28MMD29"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓|1023|255 to 1023 integer|192 -| | [[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|°/s|SD overwrites SR / CSD overwrites CSR and vice-versa193 -| | [[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa181 +| |**E**nable **M**otion Profile|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|(% style="text-align:center" %) |(% style="text-align:center" %)✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile 182 +| |**F**ilter **P**osition **C**ount|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|5| |Affects motion only when motion profile is disabled (EM0) 183 +| |**O**rigin Offset|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|1/10°| 184 +| |**A**ngular **R**ange|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1800|1/10°| 185 +| |**A**ngular **S**tiffness|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|-4 to +4 integer|Suggested values are between 0 to +4 186 +| |**A**ngular **H**olding Stiffness |(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|4|-10 to +10 integer| 187 +| |**A**ngular **A**cceleration|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1). 188 +| |**A**ngular **D**eceleration|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1). 189 +| |**G**yre Direction|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise) 190 +| |**F**irst Position (**D**eg)|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|No value|1/10°|Reset required after change. 191 +| |**M**aximum **M**otor **D**uty|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓|1023|255 to 1023 integer| 192 +| |Maximum **S**peed in **D**egrees|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|°/s|SD overwrites SR / CSD overwrites CSR and vice-versa 193 +| |Maximum **S**peed in **R**PM|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa 194 194 195 -|(% colspan="10" style="color:orange; font-size:18px" %) [[**Modifiers**>>||anchor="HModifiers"]]195 +|(% colspan="10" style="color:orange; font-size:18px" %)**Modifiers** 196 196 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** 197 -| | [[**S**peed>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)S|(% style="text-align:center" %)QS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |uS/s |For P action command198 -| | [[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|For D and MD action commands199 -| | [[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |ms|Modifier only for P, D and MD. Time can change based on load200 -| | [[**C**urrent **H**old>>||anchor="HCurrentHalt26Hold28CH29modifier"]]|(% style="text-align:center" %)CH|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR201 -| | [[**C**urrent **L**imp>>||anchor="HCurrentLimp28CL29modifier"]]|(% style="text-align:center" %)CL|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR197 +| |**S**peed|(% style="text-align:center" %)S|(% style="text-align:center" %)QS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |uS/s |For P action command 198 +| |**S**peed in **D**egrees|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|For D and MD action commands 199 +| |**T**imed move|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |ms|Modifier only for P, D and MD. Time can change based on load 200 +| |**C**urrent **H**old|(% style="text-align:center" %)CH|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR 201 +| |**C**urrent **L**imp|(% style="text-align:center" %)CL|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR 202 202 203 -|(% colspan="10" style="color:orange; font-size:18px" %) [[**Telemetry**>>||anchor="HTelemetry"]]203 +|(% colspan="10" style="color:orange; font-size:18px" %)**Telemetry** 204 204 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** 205 -| | [[**Q**uery **V**oltage>>||anchor="HQueryVoltage28QV29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QV|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mV|206 -| | [[**Q**uery **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°C|207 -| | [[**Q**uery **C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|208 -| | [[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)209 -| | [[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |210 -| | [[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the unique serial number for the servo205 +| |**Q**uery **V**oltage|(% style="text-align:center" %) |(% style="text-align:center" %)QV|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mV| 206 +| |**Q**uery **T**emperature|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°C| 207 +| |**Q**uery **C**urrent|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA| 208 +| |**Q**uery **M**odel **S**tring|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1) 209 +| |**Q**uery **F**irmware Version|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | | 210 +| |**Q**uery Serial **N**umber|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the unique serial number for the servo 211 211 212 -|(% colspan="10" style="color:orange; font-size:18px" %) [[**RGB LED**>>||anchor="HRGBLED"]]212 +|(% colspan="10" style="color:orange; font-size:18px" %)**RGB LED** 213 213 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** 214 -| | [[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White215 -| | [[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details.214 +| |**LED** Color|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White 215 +| |**C**onfigure **L**ED **B**linking|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details. 216 216 217 217 = (% style="color:inherit; font-family:inherit" %)Details(%%) = 218 218 219 -{{id name="COMMUNICATION_SETUP"/}} 220 - 221 221 == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) == 222 222 223 223 ====== __Reset__ ====== ... ... @@ -224,7 +224,7 @@ 224 224 225 225 {{html wiki="true" clean="false"}} 226 226 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 227 -Ex: #5RESET <cr><div class="wikimodel-emptyline"></div>225 +Ex: #5RESET<cr><div class="wikimodel-emptyline"></div> 228 228 This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). 229 229 Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See [[Session>>||anchor="HSession"]], note #2 for more details.<div class="wikimodel-emptyline"></div> 230 230 </div></div> ... ... @@ -234,11 +234,11 @@ 234 234 235 235 {{html wiki="true" clean="false"}} 236 236 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 237 -Ex: #5DEFAULT <cr><div class="wikimodel-emptyline"></div>235 +Ex: #5DEFAULT<cr><div class="wikimodel-emptyline"></div> 238 238 239 239 This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.<div class="wikimodel-emptyline"></div> 240 240 241 -EX: #5DEFAULT <cr>followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>239 +EX: #5DEFAULT<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 242 242 243 243 Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.<div class="wikimodel-emptyline"></div> 244 244 ... ... @@ -250,11 +250,11 @@ 250 250 251 251 {{html wiki="true" clean="false"}} 252 252 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 253 -Ex: #5UPDATE <cr><div class="wikimodel-emptyline"></div>251 +Ex: #5UPDATE<cr><div class="wikimodel-emptyline"></div> 254 254 255 255 This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.<div class="wikimodel-emptyline"></div> 256 256 257 -EX: #5UPDATE <cr>followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>255 +EX: #5UPDATE<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 258 258 259 259 Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.<div class="wikimodel-emptyline"></div> 260 260 ... ... @@ -262,18 +262,6 @@ 262 262 </div></div> 263 263 {{/html}} 264 264 265 -====== __Confirm__ ====== 266 - 267 -{{html wiki="true" clean="false"}} 268 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 269 -Ex: #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 270 - 271 -This command is used to confirm changes after a Default or Update command.<div class="wikimodel-emptyline"></div> 272 - 273 -**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div> 274 -</div></div> 275 -{{/html}} 276 - 277 277 ====== __Configure RC Mode (**CRC**)__ ====== 278 278 279 279 {{html wiki="true" clean="false"}} ... ... @@ -281,13 +281,13 @@ 281 281 This command puts the servo into RC mode (position or continuous), where it will only respond to RC PWM signal on the servo's Rx pin. In this mode, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.<div class="wikimodel-emptyline"></div> 282 282 283 283 |**Command sent**|**Note** 284 -|ex: #5CRC1 <cr>|Change to RC position mode.285 -|ex: #5CRC2 <cr>|Change to RC continuous rotation (wheel) mode.286 -|ex: #5CRC* <cr>|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div>270 +|ex: #5CRC1<cr>|Change to RC position mode. 271 +|ex: #5CRC2<cr>|Change to RC continuous rotation (wheel) mode. 272 +|ex: #5CRC*<cr>|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div> 287 287 288 -EX: #5CRC2 <cr><div class="wikimodel-emptyline"></div>274 +EX: #5CRC2<cr><div class="wikimodel-emptyline"></div> 289 289 290 -This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands. Using the command #5CRC <cr>or #5CRC3<cr>which requests that the servo remain in serial mode still requires a RESET command.<div class="wikimodel-emptyline"></div>276 +This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands. Using the command #5CRC<cr> or #5CRC3<cr> which requests that the servo remain in serial mode still requires a RESET command.<div class="wikimodel-emptyline"></div> 291 291 292 292 **Important note: **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:lynxmotion-smart-servo.lss-button-menu.WebHome]] is required. Should the button be inaccessible (or broken) when the servo is in RC mode and the user needs to change to serial mode, a 5V constant HIGH needs to be sent to the servo's Rx pin (RC PWM pin), **ensuring a common GND** and wait for 30 seconds. Normal RC PWM pulses should not exceed 2500 milliseconds. After 30 seconds, the servo will interpret this as a desired mode change and change to serial mode. This has been implemented as a fail safe.<div class="wikimodel-emptyline"></div> 293 293 </div></div> ... ... @@ -301,13 +301,13 @@ 301 301 302 302 Query Identification (**QID**)<div class="wikimodel-emptyline"></div> 303 303 304 -EX: #254QID <cr>might return *QID5<cr><div class="wikimodel-emptyline"></div>290 +EX: #254QID<cr> might return *QID5<cr><div class="wikimodel-emptyline"></div> 305 305 306 306 When using the broadcast query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number. Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.<div class="wikimodel-emptyline"></div> 307 307 308 308 Configure ID (**CID**)<div class="wikimodel-emptyline"></div> 309 309 310 -Ex: #4CID5 <cr><div class="wikimodel-emptyline"></div>296 +Ex: #4CID5<cr><div class="wikimodel-emptyline"></div> 311 311 312 312 Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus that have will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.<div class="wikimodel-emptyline"></div> 313 313 </div></div> ... ... @@ -321,7 +321,7 @@ 321 321 322 322 Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div> 323 323 324 -Ex: #5QB <cr>might return *5QB115200<cr><div class="wikimodel-emptyline"></div>310 +Ex: #5QB<cr> might return *5QB115200<cr><div class="wikimodel-emptyline"></div> 325 325 326 326 Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.<div class="wikimodel-emptyline"></div> 327 327 ... ... @@ -329,14 +329,12 @@ 329 329 330 330 **Important Note:** the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.<div class="wikimodel-emptyline"></div> 331 331 332 -Ex: #5CB9600 <cr><div class="wikimodel-emptyline"></div>318 +Ex: #5CB9600<cr><div class="wikimodel-emptyline"></div> 333 333 334 334 Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div> 335 335 </div></div> 336 336 {{/html}} 337 337 338 -{{id name="MOTION"/}} 339 - 340 340 == Motion == 341 341 342 342 ====== __Position in Degrees (**D**)__ ====== ... ... @@ -510,8 +510,6 @@ 510 510 <div class="wikimodel-emptyline"></div></div></div> 511 511 {{/html}} 512 512 513 -{{id name="MOTION_SETUP"/}} 514 - 515 515 == Motion Setup == 516 516 517 517 ====== __Enable Motion Profile (**EM**)__ ====== ... ... @@ -759,30 +759,12 @@ 759 759 760 760 Configure First Position in Degrees (**CFD**)<div class="wikimodel-emptyline"></div> 761 761 762 -Ex: #5C FD900<cr><div class="wikimodel-emptyline"></div>744 +Ex: #5CD900<cr><div class="wikimodel-emptyline"></div> 763 763 764 764 This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr> 765 765 <div class="wikimodel-emptyline"></div></div></div> 766 766 {{/html}} 767 767 768 -====== __Maximum Motor Duty (**MMD**)__ ====== 769 - 770 -{{html wiki="true" clean="false"}} 771 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 772 -This command allows the user to limit the duty cycle value sent from the servo's MCU to the DC Motor driver. The duty cycle limit value can be within the range of 255 to 1023. The default value is 1023. A typical use-case for this command is active compliance.<div class="wikimodel-emptyline"></div> 773 - 774 -Ex: #5MMD512<cr><div class="wikimodel-emptyline"></div> 775 - 776 -This will set the duty-cycle to 512 for servo with ID 5 for that session.<div class="wikimodel-emptyline"></div> 777 - 778 -Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div> 779 - 780 -Ex: #5QMMDD<cr> might return *5QMMD512<cr> <div class="wikimodel-emptyline"></div> 781 - 782 -This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr> 783 -<div class="wikimodel-emptyline"></div></div></div> 784 -{{/html}} 785 - 786 786 ====== __Maximum Speed in Degrees (**SD**)__ ====== 787 787 788 788 {{html wiki="true" clean="false"}} ... ... @@ -835,8 +835,6 @@ 835 835 </div></div> 836 836 {{/html}} 837 837 838 -{{id name="MODIFIERS"/}} 839 - 840 840 == Modifiers == 841 841 842 842 ====== __Speed (**S**, **SD**) modifier__ ====== ... ... @@ -886,8 +886,6 @@ 886 886 </div></div> 887 887 {{/html}} 888 888 889 -{{id name="TELEMETRY"/}} 890 - 891 891 == Telemetry == 892 892 893 893 ====== __Query Voltage (**QV**)__ ====== ... ... @@ -945,8 +945,6 @@ 945 945 </div></div> 946 946 {{/html}} 947 947 948 -{{id name="RGB_LED"/}} 949 - 950 950 == RGB LED == 951 951 952 952 ====== __LED Color (**LED**)__ ====== ... ... @@ -993,7 +993,7 @@ 993 993 </div></div> 994 994 {{/html}} 995 995 996 -= =RGB LED Patterns ==954 += RGB LED Patterns = 997 997 998 998 The LED patterns below do not include those which are part of the button menu, which can be found here: [[LSS Button Menu>>doc:lynxmotion-smart-servo.lss-button-menu.WebHome]] 999 999
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